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oscillation_ctrl
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Delete 'launch/mocap_sim.launch'

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cesar.alejandro 2022-09-16 08:14:53 -07:00
parent 28d7123824
commit bd8e75888d
1 changed files with 0 additions and 60 deletions
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launch/mocap_sim.launch
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<?xml version="1.0"?>
<!--
Launch file to use klausen oscillaton damping ctrl in Gazebo
/-->
<launch>
<group ns="status">
<rosparam file="$(find oscillation_ctrl)/config/mocapGazebo_params.yaml" />
</group>
<arg name="model" default="headless_spiri"/>
<node
pkg="oscillation_ctrl"
type="MoCap_Localization_fake.py"
name="fakeMocap_node"
launch-prefix="xterm -e"
/>
<!-- DETERMINES DESIRED POSITION -->
<node
pkg="oscillation_ctrl"
type="wpoint_tracker.py"
name="waypoints_server"
/>
<!-- CREATES DESIRED TRAJECTORY/ REFERENCE SIGNAL -->
<node
pkg="oscillation_ctrl"
type="ref_signalGen.py"
name="refSignal_node"
/>
<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
<node
pkg="oscillation_ctrl"
type="klausen_control.py"
name="klausenCtrl_node"
launch-prefix="xterm -e"
/>
<!-- PUBLISHES DESIRED COMMANDS -->
<node
pkg="oscillation_ctrl"
type="mocap_pathFollow_node"
name="mocap_pathFollow_node"
launch-prefix="xterm -e"
/>
<!-- RUNS TEST -->
<node
pkg="oscillation_ctrl"
type="mocap_runTest.py"
name="mocap_Test"
launch-prefix="xterm -e"
/>
<!-- SETS PLOAD MASS -->
<node
pkg="oscillation_ctrl"
type="set_ploadmass.py"
name="set_ploadmass"
output="screen"
/>
<!-- PX4 LAUNCH -->
<include file="$(find oscillation_ctrl)/launch/$(arg model)_mocap.launch">
</include>
</launch>